CN203843043U - Automatic feeding manipulator - Google Patents

Abstract

This utility model discloses an automated feeding robot, comprising a loading robot, a loading platform, a transfer conveyor belt, a stretching robot, and an electrical control box. The loading robot is equipped with a loading gripper for transferring workpieces on the loading platform. The loading platform cooperates with the loading gripper and is positioned below the loading robot. The loading robot and the stretching robot are arranged adjacent to each other. The transfer conveyor belt is positioned below the loading robot and the stretching robot. The stretching robot is equipped with a stretching gripper for transferring workpieces on the transfer conveyor belt. The electrical control box is electrically connected to the loading platform, the loading robot, the transfer conveyor belt, and the stretching robot. Using this utility model can effectively improve processing efficiency, save production costs, and effectively detect double-sheet situations, preventing damage to the mold.

Description

An automatic feeding manipulator

technical field

The utility model relates to an automatic production equipment, in particular to an automatic feeding manipulator.

Background technique

In recent years, automated production technology has developed greatly, and various automated feeding manipulators have appeared one after another. However, there are still many places that need to be improved in the existing feeding manipulators. For example, the name is "stamping manipulator", and the application number is " 201220526332.X" utility model patent discloses a feeding manipulator used in stamping and stretching processes. The frame of the manipulator is set as a gantry type. This gantry type frame has the problem of poor applicability. When the size of the workpiece to be produced is large, a large frame must be provided correspondingly, resulting in high processing costs. The gripper for feeding and the gripper for feeding are integrated on the manipulator body and move synchronously. Because the inertia of the synchronous movement of the gripper is very large, there will be a problem of body shaking during the feeding process.

Therefore, the prior art still needs to be improved and developed.

Utility model content

The purpose of the utility model is to provide an automatic feeding manipulator to solve the technical problems of poor applicability, high cost and easy shaking of the fuselage in the prior art.

The technical scheme of the utility model is as follows:

An automatic feeding manipulator, which includes a feeding manipulator, a feeding platform, a transfer conveyor belt, a stretching manipulator and an electric control box; , the feeding table is matched with the feeding hand and arranged at the lower position of the feeding manipulator; the feeding manipulator is set adjacent to the stretching manipulator; the transfer conveyor belt is arranged between the feeding manipulator and the stretching manipulator The lower position; the stretching manipulator is provided with a stretching gripper for transferring workpieces on the transfer conveyor belt; the electric control box is electrically connected to the loading table, the feeding manipulator, the transfer conveyor belt and the stretching manipulator respectively.

The automatic feeding manipulator, wherein, the loading platform includes a movable loading plate for carrying workpieces, a motor for driving the loading plate to rise/fall, and a divider for detecting the number of workpieces on the loading platform. Double-sheet mechanism; the double-sheet separating mechanism is a photoelectric detection device, which is set at a position matched with the feeding manipulator; the motor and the feeding plate are connected by a screw.

The automatic feeding manipulator, wherein, the feeding manipulator comprises a horizontal axis of the feeding manipulator along a horizontal direction and a vertical axis of the feeding manipulator along the vertical direction, the horizontal axis of the feeding manipulator and the vertical axis of the feeding manipulator are formed Arranged in a cross, the horizontal axis of the feeding manipulator and the vertical axis of the feeding manipulator are provided with a transmission mechanism and a servo motor, and the material loading hand is grasped and arranged at the lower end of the vertical axis of the feeding manipulator.

The automatic feeding manipulator, wherein the stretching manipulator includes a horizontal axis of the stretching manipulator along a horizontal direction and a vertical axis of the stretching manipulator along the vertical direction, the horizontal axis of the stretching manipulator and the vertical axis of the stretching manipulator Arranged in a cross, the horizontal axis of the stretching manipulator and the vertical axis of the stretching manipulator are all provided with a transmission mechanism and a servo motor, and the stretching hand is arranged at the lower end of the vertical axis of the stretching manipulator.

The automatic feeding manipulator further includes a double-sheet detection mechanism, the double-sheet detection mechanism is arranged at the input end of the transfer conveyor belt, and the double-sheet detection mechanism is electrically connected to the electric control box.

The automatic feeding manipulator further includes an oiling mechanism, the oiling mechanism is arranged at the output end of the transfer conveyor belt, and the oiling mechanism is electrically connected to the electric control box.

The automatic feeding manipulator further includes a positioning mechanism, the positioning mechanism is arranged at the end of the transfer conveyor belt, and is infinitely close to the mold of the stamping/stretching machine, and the positioning mechanism is electrically connected to the electric control box.

The automatic feeding manipulator, wherein, the positioning mechanism adopts a two-way simultaneous opening and closing adjustment mechanism, the adjustment method is manual or motor automatic adjustment, and the sensing method is four-point touch electric induction detection.

The automatic feeding manipulator further includes a double-sheet collecting box, and the double-sheet collecting box is arranged under the transfer conveyor belt.

The utility model separates the feeding manipulator and the stretching manipulator of the automatic feeding manipulator, and connects them through the transfer conveyor belt, effectively solving the problems of poor applicability, high cost, and Easy to shake and other technical problems.

Description of drawings

Fig. 1 is the front view of automatic feeding manipulator in the utility model.

Fig. 2 is a three-dimensional schematic diagram of the automatic feeding manipulator in the utility model.

Fig. 3 is the action flowchart of automatic feeding manipulator in the utility model.

Detailed ways

In order to make the purpose, technical solution and advantages of the utility model more clear and definite, the utility model will be further described in detail below with reference to the accompanying drawings and examples.

As shown in the front view of the automatic feeding manipulator in the utility model in Fig. 1 and the three-dimensional schematic diagram of the automatic feeding manipulator in Fig. 2 in the utility model, the utility model includes a feeding table 1, a feeding manipulator 2, a stretching manipulator 3, and a transfer conveying Belt 4, double sheet separating mechanism 5, double sheet detection mechanism 6, positioning mechanism 7, oiling mechanism 8, electric control box 9 and double sheet recovery box 10.

The loading platform 1 includes a movable loading plate for carrying workpieces, a motor (not shown in the figure) for driving the loading plate to rise/fall, and a double sheet separation mechanism for detecting workpieces on the loading platform 1 5. The double-sheet separating mechanism 5 is a photoelectric detection device, which is set at a position matched with the feeding manipulator 2 to control the rising height of the feeding plate, and the motor and the feeding plate are connected by a screw. According to the requirements, the loading platform 1 can be set as single station, double station or multi-station. The double-station and multi-station can realize uninterrupted feeding during the operation process. To stop and feed again.

The feeding manipulator 2 cooperates with the feeding platform 1, and the feeding manipulator 2 includes a cross-shaped arrangement, along the horizontal axis 21 of the material manipulator and the vertical axis 22 of the material manipulator along the vertical direction, and the material manipulator horizontal axis 22 along the vertical direction. A transmission mechanism and a servo motor are all arranged on the shaft 21 and the vertical shaft 22 of the feeding manipulator. Moreover, the horizontal axis 21 of the feeding manipulator is fixed here, and the vertical axis 22 of the feeding manipulator moves along the direction of the horizontal axis 21 of the feeding manipulator while moving up and down. This combination greatly reduces the production cost of the manipulator itself. , and improved stability, it has good applicability for light-loaded workpieces. The feeding manipulator 2 also includes a feeding hand grabbing 23, which is arranged on the lower end of the feeding manipulator vertical shaft 22, and cooperates with the feeding table 1 to realize the work of taking parts from the feeding table 1.

Stretching manipulator 3 is arranged adjacently to feeding manipulator 2 in a straight line. Stretching manipulator 3 comprises that crosses are arranged, along the stretching manipulator horizontal axis 31 of horizontal direction and along the vertical stretching manipulator vertical axis 32 of vertical direction, stretching manipulator transverse axis 31 and stretching manipulator vertical axis 32 also all A transmission mechanism and a servo motor are provided. Stretching manipulator horizontal axis 31 and stretching manipulator vertical axis 32 adopt the stretching manipulator horizontal axis 31 to be fixed, and stretching manipulator vertical axis 32 can move up and down while moving along the stretching manipulator transverse axis 31 direction. The stretching manipulator 3 also includes a stretching hand grip 33, and the stretching gripper 33 is arranged on the lower end of the vertical shaft 32 of the stretching manipulator. The stretching gripper 33 is divided into two types according to different molds. One is when the mold is a plane, The stretching grip 33 adopts the form of directly pushing out the product; the second is that when the mold is recessed, our stretching grip 33 adopts the form of stretching the claw to supplement the stroke to take out the product.

The transfer conveyor belt 4 is arranged below the feeding manipulator 2 and the stretching manipulator 3, and is driven by a transmission mechanism and a servo motor (not shown in the figure). The double sheet detection mechanism 6 is arranged on the transfer conveyor belt 4 and is used for detecting the thickness of the workpiece conveyed by the transfer conveyor belt 4 . A positioning mechanism 7 is arranged at the output end of the transfer conveyor belt 4 , and the positioning mechanism 7 is set infinitely close to the mold of the stretching/punching machine 11 . The below of transfer conveyer belt 4 is provided with double sheet recovery box 10. After the loading manipulator 2 picks up the parts from the loading platform 1, it places the workpiece on the transfer conveyor belt 4, and the transfer conveyor belt 4 then outputs the workpiece to the positioning mechanism 7. After the workpiece is positioned by the positioning mechanism 7, it is positioned by the stretching robot 3 The dies are transported to the stamping/stretching machine 11 for processing. The positioning mechanism 7 adopts a two-way simultaneous opening and closing adjustment mechanism. There are two adjustment methods, one is manual adjustment, and the other is automatic adjustment by motor. As a result, the workpiece is not in place, the positioning accuracy is high, the adjustment is convenient and can adapt to workpieces of different sizes, and the versatility is strong. When a double sheet is detected during workpiece conveying, the double sheet detection mechanism 6 will output a signal to stop the transfer conveyor belt 4 and allow it to reverse to send the double sheet workpiece back to the double sheet recovery box 10 without stopping the machine. Then let it be processed manually.

The oiling mechanism 8 is arranged on the transfer conveyor belt 4, and is arranged on the post-processing position of the double sheet detection mechanism 6. Apply oil to the workpiece during the conveying process, and the amount of oil can be adjusted according to the specific requirements of processing. In the present utility model, a pressure stabilizing valve (not shown in the figure) is provided on the oiling mechanism 8 to stabilize the oil output and ensure uniform oil output. Oiling can be divided into single-sided oiling, double-sided oiling, and ring oiling according to different forms. Oiling mechanism 8 is made up of two groups of oil rollers (not shown in the figure), and its oiling effect is more even than one group of oil rollers, and the product has no deformation, and the material of oil rollers is polyurethane material or industrial felt. The oil supply system (not shown in the figure) of the oiling mechanism 8 adopts a circulating oil supply, and after the workpiece is oiled, the excess is returned to the oil tank through the oil return basin to continue to use.

The utility model also includes an electric control box 9, and a PLC controller (not shown in the figure) is arranged in the electric control box 9. The servo motor of manipulator 3 is electrically connected to control its rotational speed and direction, and the PLC controller is also electrically connected to double-sheet separating mechanism 5, double-sheet detecting mechanism 6, positioning mechanism 7 and oiling mechanism 8 to control its working process. Finally, the purposes of automatic material distribution, feeding, automatic oiling, automatic detection of double sheets, automatic feeding and discharging of the utility model are realized.

As shown in the action flow diagram of the automatic feeding manipulator in the utility model in Fig. 3, the basic work flow of the automatic feeding manipulator provided by the utility model is, at first, the workpiece is manually placed on the loading platform 1, and the loading platform 1 top Lift the workpiece through the double-sheet mechanism 5, the vertical axis of the feeding manipulator 1 falls to the position, the feeding claw 23 grabs the workpiece and rises through the double-sheet mechanism 5, and the horizontal axis 21 of the feeding manipulator sends the workpiece to the transfer conveyor belt 4, after the transfer conveyor belt 4 workpiece passes through the double-sheet detection mechanism 6 and the oiling mechanism 8, it arrives at the positioning mechanism 7 at the output end of the transfer conveyor belt 4 for positioning operation. The vertical axis 32 of the stretching manipulator descends so that the stretching gripper 33 can absorb the workpiece. When the stretching gripper 33 absorbs the workpiece, the vertical axis 32 of the stretching manipulator rises, and the horizontal axis 31 of the stretching manipulator sends the workpiece to stamping/stretching In the mold in the machine 11, the stretched workpiece is pushed out or taken out of the mold at the same time.

It can be seen from the above embodiments that the automatic feeding manipulator provided by the utility model has the following advantages: (1) It can improve production efficiency and reduce operators. One person can operate multiple stamping/stretching machines at the same time to avoid industrial accidents occurrence, enhance the stability of the product. (2) The feeding claw 23 can carry out double-sheet splitting while grabbing the workpiece, which can also protect the stamping/stretching die, and can automatically detect when there is a double-sheet to avoid the mold from bursting. (3) The oiling mechanism 8 is set on the transfer conveyor belt 4, and oiling is applied during the conveying process of workpieces. According to different forms, it can be divided into single-sided oiling, double-sided oiling, and ring oiling. (4) The feeding manipulator 2 and the stretching manipulator 3 adopt a cross-integrated form, and adopt a combination method in which the horizontal axis is fixed and the vertical axis moves along the horizontal axis while moving up and down, which is more reasonable in structure and simple in installation. Maintenance is more convenient. (5) The positioning mechanism adopts a form that is infinitely close to the stamping/stretching die, which greatly reduces the stroke of the horizontal movement of the horizontal axis, and adopts four-point touch sensing, which has better protection for the workpiece. The four-way centering movement can better ensure that the centers are on the same line after replacing the workpiece and the mold, and can make the distance between the center point of the workpiece and the center point of the mold consistent after changing different specifications, so that the mold change and display Teaching is easier to achieve.

It should be understood that the application of the present utility model is not limited to the above-mentioned examples, and those of ordinary skill in the art can improve or transform according to the above-mentioned descriptions, such as the PLC controller in the electric control box 9 can be replaced by a single-chip microcomputer, and relayed The belt 4 can be arranged as multiple strips, etc., and all these improvements and transformations should belong to the protection scope of the appended claims of the present utility model.

Claims (9)

1. an automatic feeder tool hand, is characterized in that, comprises feeding manipulator, feeding platform, transfer conveyer belt, stretching mechanical arm and electric cabinet; The material loading hand that described feeding manipulator is provided with for transferring the workpiece on feeding platform is grabbed, and described feeding platform and material loading hand are grabbed to match and merged the lower position that is arranged on feeding manipulator; The adjacent setting of described feeding manipulator and stretching mechanical arm; Described transfer conveyer belt is arranged on the lower position of feeding manipulator and stretching mechanical arm; The stretching hand that described stretching mechanical arm is provided with for transferring the workpiece on transfer conveyer belt is grabbed; Described electric cabinet is electrically connected with feeding platform, feeding manipulator, transfer conveyer belt and stretching mechanical arm respectively.

2. automatic feeder tool hand according to claim 1, it is characterized in that, described feeding platform comprises for carrying workpiece and movable upper flitch, for driving the motor of flitch rise/fall on this and point double sheet mechanism for detection of workpiece quantity on feeding platform; Described point of double sheet mechanism is photoelectric detection system, is arranged at the position of matching with feeding manipulator; Between described motor and upper flitch, connect by screw rod.

3. automatic feeder tool hand according to claim 1, it is characterized in that, described feeding manipulator comprises the feeding manipulator transverse axis of along continuous straight runs and feeding manipulator vertical pivot vertically, described feeding manipulator transverse axis becomes right-angled intersection setting with feeding manipulator vertical pivot, on described feeding manipulator transverse axis and feeding manipulator vertical pivot, be all provided with transmission mechanism and servo motor, described material loading hand is grabbed the lower end that is arranged on feeding manipulator vertical pivot.

4. automatic feeder tool hand according to claim 1, it is characterized in that, described stretching mechanical arm comprises along the stretching mechanical arm transverse axis of horizontal direction and stretching mechanical arm vertical pivot vertically, described stretching mechanical arm transverse axis becomes right-angled intersection setting with stretching mechanical arm vertical pivot, on described stretching mechanical arm transverse axis and stretching mechanical arm vertical pivot, be all provided with transmission mechanism and servo motor, described stretching hand is grabbed the lower end that is arranged on stretching mechanical arm vertical pivot.

5. automatic feeder tool hand according to claim 1, is characterized in that, also comprises double sheet testing agency, and described double sheet testing agency is arranged on the input of transfer conveyer belt, and described double sheet testing agency is electrically connected with electric cabinet.

6. automatic feeder tool hand according to claim 1, is characterized in that, also comprises the mechanism that puts the oil, described in the mechanism that puts the oil be arranged on the output of transfer conveyer belt, described in the mechanism that puts the oil be electrically connected with electric cabinet.

7. automatic feeder tool hand according to claim 1, is characterized in that, also wrap detent mechanism, described detent mechanism is arranged on the terminal position of transfer conveyer belt, and with the mould infinite approach of punching press/stretching-machine, described detent mechanism is electrically connected with electric cabinet.

8. automatic feeder tool hand according to claim 7, is characterized in that, described detent mechanism adopts two-way simultaneous retractable adjusting gear, and regulative mode is manual or motor regulates automatically, and induction mode is that 4 touching electric induction detect.

9. automatic feeder tool hand according to claim 1, is characterized in that, also comprise double sheet collecting box, described double sheet collecting box is arranged on the below of transfer conveyer belt.